RobustKernel.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
// @author Ignacio Vizzo     [ivizzo@uni-bonn.de]
//
// Copyright (c) 2020 Ignacio Vizzo, Cyrill Stachniss, University of Bonn.
// ----------------------------------------------------------------------------
 
#include "pipelines/registration/RobustKernel.h"
 
#include <algorithm>
#include <cmath>
 
namespace {
double inline square(double x) { return x * x; }
}  // namespace
 
namespace cloudViewer {
namespace pipelines {
namespace registration {
 
double L2Loss::Weight(double /*residual*/) const { return 1.0; }
 
double L1Loss::Weight(double residual) const {
    return 1.0 / std::abs(residual);
}
 
double HuberLoss::Weight(double residual) const {
    const double e = std::abs(residual);
    return k_ / std::max(e, k_);
}
 
double CauchyLoss::Weight(double residual) const {
    return 1.0 / (1 + square(residual / k_));
}
 
double GMLoss::Weight(double residual) const {
    return k_ / square(k_ + square(residual));
}
 
double TukeyLoss::Weight(double residual) const {
    const double e = std::abs(residual);
    return square(1.0 - square(std::min(1.0, e / k_)));
}
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer